Both. Slight advantage to dogs, just for their uncanny ability to read their human's emotions and desire to please (plus, I hate litter boxes). But I have known both individual cats and dogs that were wonderfully lovable, smart, and sweet, and I have know some of each that were maddening little pissers.
I love my cats. My dogs more. Except for my cats.
I love cats too. I have four cats But also love dogs.